CN102893451A - Driver assistance device for a vehicle, vehicle and method for operating a radar unit - Google Patents

Driver assistance device for a vehicle, vehicle and method for operating a radar unit Download PDF

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Publication number
CN102893451A
CN102893451A CN2011800236409A CN201180023640A CN102893451A CN 102893451 A CN102893451 A CN 102893451A CN 2011800236409 A CN2011800236409 A CN 2011800236409A CN 201180023640 A CN201180023640 A CN 201180023640A CN 102893451 A CN102893451 A CN 102893451A
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CN
China
Prior art keywords
branch
attenuating elements
antenna element
radar equipment
driver assistance
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Pending
Application number
CN2011800236409A
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Chinese (zh)
Inventor
U.帕普齐纳
F.金兹勒
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Valeo Schalter und Sensoren GmbH
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Valeo Schalter und Sensoren GmbH
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Publication of CN102893451A publication Critical patent/CN102893451A/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01P—WAVEGUIDES; RESONATORS, LINES, OR OTHER DEVICES OF THE WAVEGUIDE TYPE
    • H01P1/00—Auxiliary devices
    • H01P1/22—Attenuating devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01P—WAVEGUIDES; RESONATORS, LINES, OR OTHER DEVICES OF THE WAVEGUIDE TYPE
    • H01P1/00—Auxiliary devices
    • H01P1/22—Attenuating devices
    • H01P1/227—Strip line attenuators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01P—WAVEGUIDES; RESONATORS, LINES, OR OTHER DEVICES OF THE WAVEGUIDE TYPE
    • H01P1/00—Auxiliary devices
    • H01P1/18—Phase-shifters
    • H01P1/184—Strip line phase-shifters
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01P—WAVEGUIDES; RESONATORS, LINES, OR OTHER DEVICES OF THE WAVEGUIDE TYPE
    • H01P5/00—Coupling devices of the waveguide type
    • H01P5/12—Coupling devices having more than two ports
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/50—Structural association of antennas with earthing switches, lead-in devices or lightning protectors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • H01Q21/065—Patch antenna array
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q25/00—Antennas or antenna systems providing at least two radiating patterns
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/28—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the amplitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Waveguide Aerials (AREA)
  • Details Of Aerials (AREA)

Abstract

The invention relates to a driver assistance device (2) for a vehicle (1), comprising a radar system (3, 4) for detecting objects outside of the vehicle, said radar system comprising an antenna unit (14) for emitting and/or receiving electromagnetic waves (SO, SE) and an attenuator (24, 25, 26) coupled to the antenna unit (14) for channelling and attenuating the electromagnetic waves (SO, SE). Via the attenuator, the antenna unit (14) can be coupled to a transmitter and/or receiver (16, 17) of the radar system (3, 4), wherein the attenuator (24, 25, 26) comprises a branching unit (31) having a first arm (32) for channelling the attenuated electromagnetic waves (SO, SE) between the transmitter and/or receiver (16, 17) on the one hand and the antenna unit (14) on the other hand, as well as a second arm (33) coupled to the first arm (32), which second arm is terminated by a reflection-free terminating element (35, 37). The invention also relates to a corresponding method.

Description

Be used for driver assistance device, the vehicle of vehicle and the method that is used for operational radar equipment
Technical field
The present invention relates to the driver assistance device for vehicle, it comprises the radar equipment for detection of object outside the vehicle.Radar equipment has antenna element and attenuating elements, and described antenna element is used for radiation and/or receives electromagnetic wave, and described attenuating elements is attached to antenna element and has guiding and the electromagnetic purpose that decays.Antenna element can be attached to via attenuation region reflector and/or the acceptor device of radar equipment.The invention still further relates to the vehicle with such driver assistance device, and relate to the method for the radar equipment of operation vehicle.
Background technology
Here focus on attenuating elements, described attenuating elements is used for the decay electromagnetic wave.In the prior art, such attenuating elements is used in particularly in the transmission antenna group, and in described transmission antenna group, the vibration with main lobe of directional characteristic is implemented (wave beam formation) in the mode of electronics; Or switch between all directions of main lobe and be implemented (wave beam switching), also be the mode with electronics.In the prior art, use a plurality of antenna elements, and each antenna element comprises one or more independent antenna elements and by dividually feed-in, that is, is independent of other antenna elements.Each feed-in of antenna element (it for example can be arranged as one by one) has high-frequency signal.The level of signal increases towards the antenna element that is positioned at each edge symmetrically from center element (for example central authorities of antenna sets).This is necessary that the secondary lobe of suppressing antenna characteristic is with respect to main lobe minimizing-13dB.Otherwise, when the signal excitation (be called " boxcar excitation ") of all antenna elements by par, may obtain at most-the secondary lobe inhibition of 13dB.Attenuating elements (also being known as term " attenuator ") is used for reducing the purpose of the level that is positioned at each antenna element outside the central authorities especially.Described antenna element must have correct, stable pad value, and especially must not have any phase shift relative to each other.
Attenuating elements can be implemented by using resistance slurry, for example when the antenna unit with LTCC(LTCC (Low Temperature Cofired Ceramics)) during the technology manufacturing.Known use resistor foil also, described resistor foil can be used in the attenuating elements.But the attenuating elements that consists of with resistance slurry or resistor foil has because the marked change of the resistance value that process allowance or technique inaccuracy cause.For high frequency substrate, also do not have up to now to be used for by set the method for pad value with high accuracy or low tolerance applications resistor foil or resistance slurry.
The high accuracy attenuating elements is specifically with the SMD(surface-mountable device) technology, from known in the state of the art.But such parts are expensive.
Further may be to use π or T attenuating elements, it be implemented by three resistors.But these attenuating elements can not be with enough accuracy manufacturings in the frequency domain (for example 24GHz) of radar equipment.Especially, but the phase shift of each attenuating elements can not be with the playback system acquisition in this variant, and this is because to using the needs of SMD resistor.
Summary of the invention
The objective of the invention is to illustrate a kind of method of structural damping element, described attenuating elements is used for the radar equipment at the driver assistance device of the cardinal principle type that begins to mention, and it does not have to accept cost and has very high accuracy about pad value and phase shift.
According to the present invention, by means of the driver assistance device that has according to the feature of this patent claim 1, and by means of the vehicle that has according to the feature of this patent claim 8, and by means of the method that has according to the feature of this patent claim 9, this purpose is implemented.Advantageous embodiment of the present invention is the theme of dependent claims and specification.
Driver assistance device for vehicle of the present invention comprises the radar equipment for detection of the object outside the vehicle.Radar equipment comprises antenna element and attenuating elements, and described antenna element is used for radiation and/or receives electromagnetic wave, and described attenuating elements is attached to antenna element and has guiding and the electromagnetic purpose that decays.Antenna element can be attached to via attenuating elements reflector and/or the acceptor device of radar equipment.Attenuating elements comprises branch units, described branch units has the first circuit branch and the second circuit branch, described the first circuit branch is used for emitter apparatus on the one hand and/or acceptor device and guiding is attenuated between the antenna element on the other hand electromagnetic wave, and described the second circuit branch is attached to the first circuit branch and stops by the reflexless terminal element.
Therefore obtain by the attenuating elements with branch units according to effect of the present invention, the part of electromagnetic power can be divided by described branch units to pick out and be transferred particularly to the reflexless terminal element.Therefore branch units has the function of distributing electromagnetic power.The first circuit branch is used for the feed antenna unit, and the second circuit branch stops by the reflexless terminal element and therefore be used for making the quilt of power to divide the part that picks out to disappear.
The method according to this invention has a plurality of advantages: attenuating elements can be made effectively by cost; What all were essential is two circuit branches---for example two strip lines---and the reflexless terminal element.In addition, do not need any discreet component, such as the SMD parts, any resistance slurry or any resistive film are used in the first circuit branch, i.e. the signal branch of antenna element.This has been avoided the phase shift of attenuating elements and the inaccuracy of its pad value, and this inaccuracy causes the degeneration of directional characteristic in the prior art and the therefore degeneration of the whole efficient of radar equipment.In producing continuously, therefore the pad value of each attenuating elements and phase shift are reduced to minimum apart from set-point value risk devious.Branch units can be in fact implemented by line structure, the conductor track structure on the circuit board for example, and it can accurately be made by the utmost point, and this has guaranteed the constant character during the large-scale continuous production.It is very low to make the cost that occurs in the branch units, because do not require specific or expensive high-frequency unit, material or technique.
Branch units is preferably implemented with the tape conductor technology, particularly with micro-band technique.So each is strip line for the first and second circuit branches, particularly microstrip line.But, can also provide the strip line of other types, such as complanar line etc.The embodiment of the branch units in the tape conductor technology has particularly guaranteed to exist compact and save the space-efficient attenuating elements when using paster antenna.Also more cost is effective than other swash for strip line, and can make in a mode: this mode allows them with the high accuracy duplication of production and can make in mode economic on the material.This proves particularly advantageous, particularly ought exist a plurality of antenna elements when (except center element, each antenna element needs attenuating elements).In fact, have the same phase attribute and extremely accurately a plurality of branch unitss of pad value then be essential.
(also being known as title " T joint " or " power divider ") is particularly advantageous if its proof branch units has parallel branch.The first and second circuit branches are electrically connected subsequently.This embodiment has guaranteed compact especially attenuating elements.Therefore attenuating elements can also be used in such radar equipment, wherein, exists the free space between each antenna element that is installed on the common substrate less.Parallel branch also has following advantage: the pad value of the expectation of attenuating elements can be implemented in the situation that does not have very large cost especially exactly; Because the suitable selection of the line impedence of the first and second circuit branches, and more accurately, because λ separately/4 transformers, the power of expectation distributes and can be implemented.By using λ/4 transformers, impedance adaptability can obtain in the situation that does not have large cost in parallel branch.If advantageously each λ/at least one part of 4 transformers is presented as the form of ring segment or ring, so and branch units compact especially.
In an alternative embodiment, branch units has directional coupler, particularly, TEM(transverse-electromagnetic particularly) line coupler or hybrid coupler (being also known as term " 4x λ/4 line couplers " or " branched line coupler " or " 90 ° of rings mix ").In the situation of TEM line coupler, the first circuit branch and the second circuit branch electric insulation, and be arranged as and the second circuit branch parallel.By such directional coupler, can also divide a part that picks out electromagnetic power, and transfer them to the reflexless terminal element.
The reflexless terminal element is arranged in the second circuit branch, and does not therefore affect the phase place via the signal of the first circuit branch transmission.On the principle, therefore final element can be implemented in any desired way; What all were essential is significantly not to be reflected in the final element place to occur." reflexless terminal element " be understood to mean, especially, power reflection less than-10dB(particularly less than-15dB, even more accurately less than-20dB) element.Aspect the element of reflexless terminal, various embodiments is suitably feasible:
Final element can have resistor, and described resistor is connected to reference potential via the electrical short element, that is, and and ground connection.If the second circuit branch is microstrip line, short-circuit component is the element (path) that extends through substrate and resistor is electrically connected to earthed surface.In this mode, can be so that do not having can to obtain the reflexless terminal element in the situation of a large amount of costs, and resistor can be SMD parts, resistance slurry and/or resistive film.
But final element can also be absorber, described absorber and reference potential electric insulation or shortage quality.So do not need to use short-circuit component.Such absorber can be used, for example, be the form of wedge absorber, spiral absorber, resonance absorber or resistive coating.All the above-mentioned types of absorber do not have reflection coefficient.
Radar equipment can have at least four antenna elements, for example eight antenna elements.At least two antenna elements can be attached to respectively via the attenuating elements of appointment reflector and/or the acceptor device of radar equipment.Each attenuating elements can have different pad values.In the execution mode of this embodiment, radar equipment can comprise the antenna sets with eight antenna elements, and each has a plurality of chip unit elements described antenna element.Each antenna element can be connected to reflector and/or acceptor device dividually.Each can be attached to reflector and/or acceptor device via this attenuating elements with maximum attenuation value two outmost antenna elements.Two center element can preferably not be attached to reflector and/or acceptor device via attenuating elements; Therefore the length that center element is attached to the swash of reflector and/or acceptor device should only preferably be adapted to the phase shift of attenuating elements, and their phase shift should only preferably be adapted to the phase shift of attenuating elements.Each preferably is attached to reflector and/or acceptor device via this attenuating elements with minimal attenuation value adjacent to the antenna element of center element outwardly.Each is attached to this attenuating elements with pad value placed in the middle adjacent to the antenna element of outmost antenna element inwardly.Therefore there is the horizontal distribution about the signal of center element symmetry.
Be designed to radiation frequency modulation Electromagnetic Continuous ripple (being also referred to as term FMCW(Continuous Wave with frequency modulation)) continuous wave radar as radar equipment.By such radar equipment, can determine the distance between object and the described radar equipment, and object is with respect to relative velocity and the relative position of radar equipment.The receiving antenna device that radar equipment can comprise transmission antenna device and separate with it.The attenuating elements of appointment is preferably used for transmission antenna device.So antenna element is attached to emitter apparatus via attenuating elements, and receiving antenna device is attached to acceptor device.Such acceptor device can comprise, for example, and blender, low pass filter, low noise amplifier and analog-digital converter.The signal that receiving antenna device receives is subsequently by the mixed base band to acceptor device of contracting, and low-pass filtering also stands analog digital conversion or discretization.Transmission antenna device can be by for generation of the local oscillator feed-in that transmits.Transmitting to be fed into blender in the acceptor device, so that the signal contracting that receives is mixed to base band.Transmission antenna device can be by phased in vehicle, at least along azimuth direction so that can detect generally directed specific narrow main lobe with along continuous straight runs than the wide-azimuth scope.
Vehicle according to the invention, particularly automobile comprise according to driver assistance device of the present invention, or its advantageous embodiment.
The method according to this invention is configured to the radar equipment for the driver assistance device of operation vehicle.Electromagnetic wave is by antenna element radiation and/or the reception of radar equipment, and is directed and decays by the attenuating elements that is attached to antenna element, and antenna element is attached to reflector and/or the acceptor device of radar equipment by described attenuating elements.Electromagnetic wave via one side reflector and/or acceptor device and on the other hand the first circuit branch of the branch units of the attenuating elements between the antenna element be directed, and guide to the reflexless terminal element via the second circuit branch that is attached to the first circuit branch.
About the preferred embodiment of driver assistance device demonstration according to the present invention, and advantage, correspondingly be applied to vehicle according to the invention and the method according to this invention.
Further advantage of the present invention can be found in the description of claim, accompanying drawing and accompanying drawing.Above-mentioned all features in specification and Feature Combination and following in the description of accompanying drawing feature that mention and/or that simply illustrate in the accompanying drawings and Feature Combination can not only be used in the combination of pointing out respectively, also can be used in other combinations or use separately.
Description of drawings
Referring now to each preferred illustrative embodiment and also explain in greater detail with reference to the attached drawings the present invention, in the accompanying drawings:
Fig. 1 is the schematic plan view of motor vehicles according to an embodiment of the invention;
Fig. 2 is the piece figure of radar equipment, such as being used in according in the radar equipment in the motor vehicles of Fig. 1;
Fig. 3 is the schematic diagram of transmission antenna device, such as being used in according in the transmission antenna device in the radar equipment of Fig. 2;
Fig. 4 a is schematically and the repeatedly enlarged drawing (layout) with swash of suitable length or phase shift; With
Fig. 4 b to 4d is schematically and the repeatedly enlarged drawing (layout) of attenuating elements in each situation that has according to an embodiment of the invention a differential declines value.
Embodiment
In the drawings, provide identical Reference numeral for the identical element identical with function.
Motor vehicles 1 shown in Figure 1 comprise driver assistance device 2, and these driver assistance device 2 driver assistances are driven motor vehicles 1.Driver assistance device 2 can be for example to be used for blind spot surveillance and/or accident earlier detection system, especially for rear end collision and/or ACC(adaptive cruise control (Adaptive Cruise Control)) system.Driver assistance device 2 comprises the first radar equipment 3 and the second radar equipment 4.The first radar equipment 3 is arranged in the left comer of rear bumper, and the second radar equipment 4 is arranged in the right corner of same bumper.
The first radar equipment 3 detects a detection range 7.Detection range 7 is by the azimuth angle alpha definition, and described azimuth angle alpha is defined by two line 7a, 7b in Fig. 1.
Correspondingly, the second radar equipment 4 has detection range 8, and described detection range 8 is by corresponding azimuth angle alpha definition.Azimuth angle alpha is defined by two line 8a, 8b.
About 170 ° of azimuth angle alpha in the exemplary embodiment.Therefore radar equipment 3,4 detection range 7,8 overlapping provide overlapping range 9.Overlapping range 9 is defined according to the angle that line 7b, 8b consist of.In the exemplary embodiment, the subtended angle β of overlapping range 9 is about 70 °.
In their detection ranges 7,8 separately, radar equipment can be with object localization.Particularly, radar equipment 3,4 can determine that object is apart from corresponding radar equipment 3,4 distance, target angle and the object relative velocity with respect to motor vehicles 1.As seen in Figure 1, radar equipment 3,4 detection range 7,8 also comprise each blind spot region of motor vehicles 1, that is, the driver is in inside rear view mirror or the zone that externally can not see in the rearview mirror.
Fig. 2 illustrates each radar equipment 3 that comprises control device 5,4 circuit block figure.Radar equipment 3,4 comprises transmission antenna device 13, and described transmission antenna device 13 comprises one group of antenna element 14, the apart from each other feed-in of described antenna element.Each antenna element 14 can each comprise a plurality of paster antennas (referring to Fig. 3).Transmission antenna device 13 is powered via power supply circuits 15, particularly under the help of local oscillator 16.Local oscillator produces the S that transmits 0S transmits 0Be the FM electromagnetic ripple, its frequency has serrate profile in the exemplary embodiment.S transmits 0Therefore be frequency modulation; Its frequency periodically changes between the first value (for example 23.8GHz) and the second value (for example 24.2GHz).S transmits 0Centre frequency be 24GHz in the exemplary embodiment.
Local oscillator 16 is actuated by control device 5.Oscillator 16 for example is voltage controlled oscillator, and it produces the S that transmits with a frequency 0, described frequency depends on by the amplitude of control device 5 at the obtainable direct voltage in oscillator 15 places.
Radar equipment 3,4 comprises that also one or more receiver 17(are as schematically illustrated in Fig. 2).Receiver 17 comprises receiving antenna device 18, and described receiving antenna device 18 can comprise a plurality of paster antennas in the exemplary embodiment.Receiving antenna device 18 can also be two-dimensional antenna matrix (array).Reception antenna unit 18 is connected to power supply circuits 19.Power supply circuits 19 are so that can picked up signal S E, described signal S ETo receive signal.The signal S that receives EBe exaggerated by means of low noise amplifier 20, it is mixed to use blender 21 to contract, and uses low pass filter 22 to carry out low-pass filtering, and stands to change from analog to digital by analog-digital converter 23.The signal S that receives for the contracting hybrid junction E, use the S that transmits 0, and the S that transmits 0Be directed to blender 21, especially for example, use directional coupler.Use subsequently control device 5 to process the digital signal S that receives E Control device 5 is by signal S EDetermine, for example, apart from the distance of object, its relative velocity, and target angle.
Fig. 2 is radar equipment 3,4 basic view, and only shows the operation method of radar equipment with schematic form.Therefore, radar equipment 3,4 only represents with exemplary form in Fig. 2.
Transmission antenna device 13 Hes, more accurately, therefore power supply circuits 15 can be controlled as follows: it sends chronological sequence by each subrange switching in detection range 7 or 8.For example, for this purpose, the emission lobe of transmission antenna device 13 can be scanned in the electronics mode along azimuth direction, particularly according to phase array (phase array) principle.In this case, receiving antenna device 18 can have the wide receiving feature that covers whole detection range 7 or 8 along azimuth direction.Other arrange and can alternatively implement narrow acceptance angle scope together with wide emission lobe.
At these power supply circuits 15 that focus on transmission antenna device 13, particularly be its attenuating elements.With reference to figure 3, as stating, transmission antenna device 13 comprises a plurality of antenna elements 14, and described antenna element 14 has again a plurality of independent paster antennas.More accurately, the transmission antenna device in the exemplary embodiment 13 comprises eight antenna elements 14 with same design.In the exemplary embodiment, each antenna element 14 comprises six patch antenna element.All patch antenna element are installed on the common substrate.In addition, power supply circuits 15 also are installed on this substrate, and power supply circuits 15 are constructed with micro-band technique in the exemplary embodiment.
For each antenna element 14, power supply circuits 15 not only comprise two center element 14, also comprise attenuating elements in each situation, and respective antenna unit 14 is attached to local oscillator 16 via described attenuating elements.More accurately, each is connected to attenuating elements 24 outmost antenna element 14, antenna element adjacent to outmost antenna element 14 is received attenuating elements 25 at each situation second line of a couplet, adjacent to the antenna element 14 of center element 14 in each situation lower link to attenuation units 26. Attenuation units 24,25,26 each have identical pad value on paired basis.
Attenuating elements 24 has the first pad value, and attenuating elements 25 has the second pad value, and attenuating elements 26 has the 3rd pad value.The first pad value is greater than the second pad value, and the second pad value is greater than the 3rd pad value.All attenuating elements 24,25,26 have identical phase attributes, that is, be offset with same absolute value via attenuating elements 24,25, the 26 electromagnetic phase places of propagating.That is, all attenuating elements 24,25,26 have identical active line length and therefore identical phase shift.
Central antenna element 14 is not attached to any attenuating elements, but is attached to local oscillator 16, connects via microstrip line 27 in each situation.Such microstrip line 27 is shown in Fig. 4 a.As obvious from Fig. 4 a, microstrip line 27 has the ring-type profile by bending ring 28.Therefore, the active line length of microstrip line 27 goes for attenuating elements 24,25,26 effective length, particularly provides in the situation of the available installing space that limits in advance.Therefore the phase shift that is caused by microstrip line 27 is adapted to the phase shift that caused by attenuating elements 24,25,26.On the one hand, microstrip line 27 is connected to the antenna element 14 that is assigned; On the other hand, it is attached to local oscillator 16, for example via coaxial cable or other waveguide.
According to the attenuating elements 24,25,26 of the embodiment of the invention shown in Fig. 4 b to 4d.Attenuating elements 24,25,26 is also available in micro-band technique, and therefore comprises microstrip line. Respective attenuation element 24,25,26 First or the first terminal 29 are attached to local oscillator 16, for example via coaxial cable or other waveguide.Be connected to respective antenna unit 14 for second mouthful 30.Attenuating elements 24,25,26 each have branch units, specifically here be parallel branch 31(T joint), this branch 31 has the first circuit branch 32 and the second circuit branch 33.Two circuit branches 32,33 are in breakout 34 places combination, and this breakout 34 is particularly at First 29 places.Therefore the first branch line 32 is attached to local oscillator 16 with the antenna element 14 that is assigned.S transmits 0The part of power minute picked out and led away via the second circuit branch 33.The electromagnetic wave that this quilt minute picks out is conducted to attenuating elements 24,25,26 the 3rd mouthful 36 via resistor 35, and described mouthful 36 via electrical short element 37(path) ground connection.Therefore corresponding short-circuit component 37 vertically extends with respect to plan and passes substrate.In the exemplary embodiment, resistor 35 is SMD parts, and is carried on the little band contact-making surface 38 that separates with parallel branch 31 on the one hand, is carried on the other hand on the end regions of the second circuit branch 33.Here, short-circuit component 37 is with little band contact-making surface 38 ground connection.
Resistor 35 forms the reflexless terminal element with short-circuit component 37.
Parallel branch 31 has two λ/4 transformers 39,40, and described transformer 39,40 has the function that the input impedance of making is adapted to output impedance.The suitable selection of the impedance by two λ/4 transformers, the expectation power that can implement parallel branch 31 distribute and therefore necessary pad value.
Fig. 4 b illustrates attenuating elements 26, and it is used to antenna element 14 power supplies adjacent to center element 14.It is significantly wider than λ/4 transformers 40 that this attenuating elements 26 has low pad value-λ/4 transformers 39.
Fig. 4 c illustrates attenuating elements 25, and it has the second pad value placed in the middle.λ/39 beguines of 4 transformers are narrower according to Fig. 4 b's, and than the second circuit branch 33 λ/4 transformers 40 are slightly narrow.
Attenuating elements 24 shown in Fig. 4 d is used to outmost antenna element 14 power supplies.It has the maximum attenuation value; λ/4 transformers 39 are significantly narrower accordingly than λ/4 transformers 40.
On the principle, attenuating elements 24,25,26 can also be implemented by directional coupler.S transmits 0The part of power then use such directional coupler minute to be picked out, and can also conduct to the reflexless terminal element.
Generally, therefore can make attenuating elements 24,25,26 about phase shift and pad value by cost effectively, the utmost point accurately makes, but and attenuating elements 24,25,26 can also make in a large number with playback system.Do not have optional feature (such as SMD parts) must be inserted in this circuit branch 32, antenna element 14 is via these circuit branch 32 power supplies.Therefore, electromagnetic phase place is not adversely affected.The pad value of expectation can accurately be set by correspondingly selecting λ/4 transformers 39,40 width, does not have the cost of large degree.

Claims (9)

1. a driver assistance device (2) that is used for vehicle (1) has the radar equipment (3,4) for detection of the object outside the vehicle, and described radar equipment (3,4) has for radiation and/or receives electromagnetic wave (S 0, S E) antenna element (14) and be attached to antenna element (14) and have guiding and decay electromagnetic wave (S 0, S E) attenuating elements (24,25,26) of purpose, antenna element (14) could be attached to reflector and/or the acceptor device (16,17) of radar equipment (3,4) by described attenuating elements (24,25,26),
It is characterized in that,
Attenuating elements (24,25,26) comprises branch units (31), described branch units (31) has the first circuit branch (32) and the second circuit branch (33), and described the first circuit branch (32) is used for reflector on the one hand and/or acceptor device (16,17) and guiding is attenuated between the antenna element (14) on the other hand electromagnetic wave (S 0, S E), described the second circuit branch (33) is attached to the first circuit branch (32) and stops by reflexless terminal element (35,37).
2. driver assistance device according to claim 1 (2),
It is characterized in that,
Branch units (31) is implemented with the tape conductor technology, particularly with micro-band technique, thereby the first and second circuit branches (32,33) each be strip line, microstrip line particularly.
3. driver assistance device according to claim 1 and 2 (2),
It is characterized in that,
Branch units (31) has parallel branch (31), thereby the first and second circuit branches (32,33) are electrically connected to each other.
4. driver assistance device according to claim 1 and 2 (2),
It is characterized in that,
Branch units (31) has directional coupler, TEM line coupler particularly, wherein, the first circuit branch (32) preferably with the second circuit branch (33) electric insulation, and be arranged as with the second circuit branch (33) parallel.
5. according to each the described driver assistance device (2) in the aforementioned claim,
It is characterized in that,
Final element (35,37) has resistor (35), and described resistor (35) is connected to reference potential via electrical short element (37).
6. each described driver assistance device (2) in 4 according to claim 1,
It is characterized in that,
Final element (35,37) is absorber, described absorber and reference potential electric insulation.
7. according to each the described driver assistance device (2) in the aforementioned claim,
It is characterized in that,
Radar equipment (3,4) has at least two antenna elements (14), described antenna element (14) can each be attached to reflector and/or the acceptor device (16,17) of radar equipment (3,4) via specified attenuation element (24,25,26), wherein, attenuating elements (24,25,26) has different pad values.
8. a vehicle (1), particularly motor vehicles have according to each the described driver assistance device (2) in the aforementioned claim.
9. the method for the radar equipment of a driver assistance device (2) that is used for operation vehicle (1), wherein, electromagnetic wave (S 0, S E) by antenna element (14) radiation and/or the reception of radar equipment (3,4), and be directed and decay by the attenuating elements that is attached to antenna element (14) (24,25,26), and antenna element (14) is attached to reflector and/or the acceptor device (16,17) of radar equipment (3,4) by described attenuating elements (24,25,26)
It is characterized in that,
Electromagnetic wave (S 0, S E) via one side reflector and/or acceptor device (16,17) and on the other hand the first circuit branch (32) of the branch units (31) of the attenuating elements between the antenna element (14) (24,25,26) be directed, and guide to reflexless terminal element (35,37) via the second circuit branch (33) that is attached to the first circuit branch (32).
CN2011800236409A 2010-05-10 2011-03-22 Driver assistance device for a vehicle, vehicle and method for operating a radar unit Pending CN102893451A (en)

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DE102010020022A DE102010020022A1 (en) 2010-05-10 2010-05-10 Driver assistance device for a vehicle, vehicle and method for operating a radar device
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PCT/EP2011/054298 WO2011141210A1 (en) 2010-05-10 2011-03-22 Driver assistance device for a vehicle, vehicle and method for operating a radar unit

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US9136571B2 (en) 2015-09-15
WO2011141210A1 (en) 2011-11-17

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